Multiple CI and README.md Improvements (#324)

Also removed CI compatibility and mentions of ESP-IDF v4.4 as it's been
declared EOL by Espressif.
-

(cherry picked from commit d749ff1)

# Conflicts:
#	.github/workflows/nightly.yml

Author: Amronos

.github/workflows/ci.yml

@@ -2,51 +2,44 @@ name: CI
 
 on:
   pull_request:
+  push:
     branches:
-      - '**'
+      - humble
+      - jazzy
+      - kilted
+      - rolling
+  workflow_call:
+    inputs:
+      branch:
+        description: "Branch to checkout"
+        required: false
+        type: string
+        default: "rolling"
+  workflow_dispatch:
 
 jobs:
-
   micro_ros_idf:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6]
-        idf_version: [ "espressif/idf:release-v5.2" ]
-        exclude:
-          # Skip IDF v4 + ESP32C6 combination
-          - idf_target: esp32c6
-            idf_version: espressif/idf:release-v4.4
+        idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
+        idf_version: [v5.2, v5.3, v5.4]
 
     container:
-      image: ${{ matrix.idf_version }}
+      image: "espressif/idf:release-${{ matrix.idf_version }}"
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v6
         with:
           path: micro_ros_espidf_component
+          ref: ${{ inputs.branch || github.ref }}
 
       - name: Dependencies
         shell: bash
         run: |
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y git python3-pip
           . $IDF_PATH/export.sh
-          pip3 install catkin_pkg lark-parser colcon-common-extensions
-          # This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
-          pip3 install importlib-resources
-          # this installs the modules also for global python interpreter, needed for IDF v5
-          /usr/bin/pip3 install catkin_pkg lark-parser colcon-common-extensions importlib-resources
-
-      # This line can be removed when https://github.com/colcon/colcon-python-setup-py/issues/56 is solved
-      - name: Patch setuptools
-        shell: bash
-        if: matrix.idf_version == 'espressif/idf:release-v4.4'
-        run: |
-          . $IDF_PATH/export.sh
-          pip3 install setuptools==68.1.2
+          pip install catkin_pkg colcon-common-extensions lark
 
       - name: Build sample - int32_publisher
         shell: bash
@@ -86,7 +79,7 @@ jobs:
 
       - name: Build sample - int32_publisher_custom_transport_usbcdc
         shell: bash
-        if: (matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3') && matrix.idf_version == 'espressif/idf:release-v5.2'
+        if: matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3'
         run: |
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc
@@ -103,13 +96,3 @@ jobs:
           cd examples/multithread_publisher
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
-
-      - name: EmbeddedRTPS
-        shell: bash
-        run: |
-          . $IDF_PATH/export.sh
-          cd micro_ros_espidf_component
-          make -f libmicroros.mk clean
-          cd examples/int32_publisher_embeddedrtps
-          idf.py set-target ${{ matrix.idf_target }}
-          idf.py build

.github/workflows/nightly.yml

@@ -1,19 +1,16 @@
 name: Nightly
 
 on:
-  workflow_dispatch:
-    inputs:
-      name:
-        description: "Manual trigger"
   schedule:
-    - cron:  '0 4 * * *'
+    - cron: '0 4 * * *'
+  workflow_dispatch:
 
 jobs:
   micro_ros_idf:
-    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
+<<<<<<< HEAD
         branch: [rolling, kilted, jazzy, humble]
         idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6]
         idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2" ]
@@ -115,3 +112,9 @@ jobs:
           cd examples/int32_publisher_embeddedrtps
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
+=======
+        branch: [humble, jazzy, kilted, rolling]
+    uses: ./.github/workflows/ci.yml
+    with:
+      branch: ${{ matrix.branch }}
+>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))

README.md

@@ -3,26 +3,26 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v5.2 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
-
-_Note: ESP-IDF v4.4 is supported only in ROS 2 Humble and Jazzy due to Python version incompatibilities._
+This component has been tested in ESP-IDF v5.2, v5.3, and v5.4 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
 
 ## Dependencies
 
 This component needs `colcon` and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:
 
 ```bash
 . $IDF_PATH/export.sh
-pip3 install catkin_pkg lark-parser colcon-common-extensions
+pip3 install catkin_pkg colcon-common-extensions lark
 ```
 
 ## Middlewares available
 
 This package support the usage of micro-ROS on top of two different middlewares:
+
 - [eProsima Micro XRCE-DDS](https://micro-xrce-dds.docs.eprosima.com/en/latest/): the default micro-ROS middleware.
-- [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2.
+- [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2. (CURRENTLY NOT WORKING)
 
 In order to select it, use `idf.py menuconfig` and go to `micro-ROS Settings > micro-ROS middleware`
+
 ## Usage
 
 You can clone this repo directly in the `components` folder of your project.
@@ -36,7 +36,7 @@ In order to test a int32_publisher example:
 ```bash
 . $IDF_PATH/export.sh
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
@@ -63,19 +63,16 @@ docker run -it --rm --net=host microros/micro-ros-agent:kilted udp4 --port 8888
 It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:
 
 ```bash
-docker pull espressif/idf:release-v5.2
-# Run ESP-IDF container
-docker run --name micro-ros-espidf-component-test -it espressif/idf:release-v5.2 bash
+docker run --name micro-ros-espidf-component -it espressif/idf:release-v5.4 bash
 
-git clone https://github.com/micro-ROS/micro_ros_espidf_component.git
+git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
 cd micro_ros_espidf_component/
 
 # Install dependencies
-pip3 install catkin_pkg lark-parser colcon-common-extensions
+pip install catkin_pkg colcon-common-extensions lark
 
-$IDF_PATH/export.sh
 cd examples/int32_publisher
-# Set target board [esp32|esp32s2|esp32s3|esp32c3]
+# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
 idf.py set-target esp32
 idf.py menuconfig
 # Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings